Predicting respiratory motion for active canceling during percutaneous needle insertion

C. N. Riviere; A. Thakral; I. I. Iordachita; G. Mitroi; D. Stoianovici

Predicting respiratory motion for active canceling during percutaneous needle insertion

C. N. Riviere, A. Thakral, I. I. Iordachita, G. Mitroi, D. Stoianovici

Research output: Contribution to journal › Conference article › peer-review

Abstract

Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.

Original language	English (US)
Pages (from-to)	3477-3480
Number of pages	4
Journal	Annual Reports of the Research Reactor Institute, Kyoto University
Volume	4
State	Published - 2001
Externally published	Yes
Event	23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Istanbul, Turkey Duration: Oct 25 2001 → Oct 28 2001

Keywords

Adaptive filtering
Compensation
Robot
Surgery

ASJC Scopus subject areas

Energy Engineering and Power Technology
Mechanical Engineering

Cite this

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title = "Predicting respiratory motion for active canceling during percutaneous needle insertion",

abstract = "Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.",

keywords = "Adaptive filtering, Compensation, Robot, Surgery",

author = "Riviere, {C. N.} and A. Thakral and Iordachita, {I. I.} and G. Mitroi and D. Stoianovici",

year = "2001",

language = "English (US)",

volume = "4",

pages = "3477--3480",

journal = "Annual Reports of the Research Reactor Institute, Kyoto University",

issn = "0454-9244",

note = "23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society ; Conference date: 25-10-2001 Through 28-10-2001",

}

TY - JOUR

T1 - Predicting respiratory motion for active canceling during percutaneous needle insertion

AU - Riviere, C. N.

AU - Thakral, A.

AU - Iordachita, I. I.

AU - Mitroi, G.

AU - Stoianovici, D.

PY - 2001

Y1 - 2001

N2 - Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.

AB - Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.

KW - Adaptive filtering

KW - Compensation

KW - Robot

KW - Surgery

UR - http://www.scopus.com/inward/record.url?scp=0035782471&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035782471&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0035782471

SN - 0454-9244

VL - 4

SP - 3477

EP - 3480

JO - Annual Reports of the Research Reactor Institute, Kyoto University

JF - Annual Reports of the Research Reactor Institute, Kyoto University

T2 - 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Y2 - 25 October 2001 through 28 October 2001

ER -

Predicting respiratory motion for active canceling during percutaneous needle insertion

Abstract

Keywords

ASJC Scopus subject areas

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